Actuation of the Artificial Muscle Based on Ionic Polymer Metal Composite by Electromyography (EMG) Signals

This article proposes an ionic polymer metal composite (IPMC) actuating system with a biomimetic function. Electromyography (EMG) signals generated by an intended contraction of muscles in the human forearm are used as controlling signals for actuating the IPMC. By controlling this with EMG signals generated from the human flexor carpi ulnaris and extensor carpi ulnaris muscles, we investigated the actuation behavior of the IPMC based on Nafion. To obtain higher actuation force of the IPMC, the single layered IPMC, as thick as 800 mm, or multi-layered IPMC of which each layer is as thick as 178 mm are prepared. The experimental results using an implemented IPMC control system show a possibility and a usability of the biomimetic artificial muscle.